Kuka KR C4 compact - 5.7 Overview of Operating Modes and Safety Functions; 5.8 Safety Measures; 5.8.1 General Safety Measures

40 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
 The interlocks (e.g. safety gate switches) are linked to the operator safety
input of the robot controller via safety gate switching devices or safety
PLC.
 Switching devices, switches and the type of switching conform to the re-
quirements of Performance Level d and category 3 according to
EN ISO 13849-1.
 Depending on the risk situation: the safety gate is additionally safeguarded
by means of a locking mechanism that only allows the gate to be opened
if the manipulator is safely at a standstill.
 The button for acknowledging the safety gate is located outside the space
limited by the safeguards.
Other safety
equipment
Other safety equipment must be integrated into the system in accordance with
the corresponding standards and regulations.
5.7 Overview of operating modes and safety functions
The following table indicates the operating modes in which the safety functions
are active.
5.8 Safety measures
5.8.1 General safety measures
The industrial robot may only be used in perfect technical condition in accor-
dance with its intended use and only by safety-conscious persons. Operator
errors can result in personal injury and damage to property.
It is important to be prepared for possible movements of the industrial robot
even after the robot controller has been switched off and locked out. Incorrect
installation (e.g. overload) or mechanical defects (e.g. brake defect) can cause
the manipulator or external axes to sag. If work is to be carried out on a
switched-off industrial robot, the manipulator and external axes must first be
moved into a position in which they are unable to move on their own, whether
the payload is mounted or not. If this is not possible, the manipulator and ex-
ternal axes must be secured by appropriate means.
Further information is contained in the corresponding standards and
regulations. These also include EN ISO 14120.
Safety functions T1 T2 AUT AUT EXT
Operator safety - - Active Active
EMERGENCY STOP device Active Active Active Active
Enabling device Active Active - -
Reduced velocity during pro-
gram verification
Active - - -
Jog mode Active Active - -
Software limit switches Active Active Active Active
In the absence of operational safety functions and safe-
guards, the industrial robot can cause personal injury or
material damage. If safety functions or safeguards are dismantled or deacti-
vated, the industrial robot may not be operated.